Yamaha RCX142, User Manual

Page: 337 / 450

6-
1
6
Parallel I/O interface
1. Standard I/O interface overview
The robot controller has a standard I/O interface for compatibility with customer systems.
A description of each I/O terminal and its connection is given here. Connect these I/O
terminals correctly and efficiently.
This standard I/O interface contains 9 dedicated inputs and 11 outputs, and 16 general-
purpose inputs and 8 outputs. The type of standard I/O interface (NPN or PNP
specifications) is set prior to shipment.
Inputs are referred to here as DI (Digital Inputs) and outputs as DO (Digital Outputs).
If a serial IO (CC-Link, DeviceNet, etc.) is selected with the option board, the standard I/
O interface's dedicated inputs other than DI (11) (Interlock signal) will all be invalid.
Specifications Connector name Connector type No. Conductor wire
Standard
Input
Output
Dedicated : 9
General-purpose : 16
Dedicated : 11
General-purpose : 8
STD. DIO
MR-50LM
(Honda Tsushin
Kogyo)
0.3mm 2 or more
1.1 Power supply
The standard I/O interface uses an external 24V power supply. Connect the 24V and
ground terminals of the external power supply to pins 47 to 50 of the STD. DIO connector
on the controller.
c
CAUTION
See "7. I/O connections" in Chapter
3 for a definition of NPN and PNP
specifications.
n
NOTE
On the robot controller with “SAFE”
mode enabled, dedicated inputs may
not be used in “SERVICE” mode
depending on the operating device
setting in “SERVICE” mode.
n
NOTE
• When supplying an external
24VDC power supply to the
standard I/O interface, invalidate
the "Watch on STD. DIO DC24V"
setting under
"PARAM>OTHERS".
• When using the general-purpose
input/output of the standard I/O
interface, connect DI (11)
(interlock signal).
c
CAUTION
Do not keep supplying the external
24V DC power to the standard I/O
interface while controller power is off.
The controller might malfunction if
the external 24V is continuously
supplied.